Probable reconstruction of surfaces in occluded regions by computed symmetry

Abstract

A system for obtaining a probable 3D map of an occluded surface of an object is provided. The system receives an initial 3D map of a visible surface of the object and identifies one or more symmetries of the initial 3D map. The system computes the probable 3D map of the occluded surface by projecting points of the initial 3D map into occluded regions of space according to the identified symmetries. The system can also comprise an imager for obtaining the initial 3D map. The actual occluded surface cannot be known with absolute certainly because it is occluded; however, the computed 3D map will closely resemble the actual occluded surface in many instances because most objects possess one or more symmetries and the computed 3D map is based on such symmetries that are identified in the initial 3D map of the object.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application claims the benefit of U.S. Provisional Patent Application Ser. No. 60 / 529,386, filed Dec. 11, 2003, entitled “Probable Reconstruction of Surfaces in Occluded Regions by Computed Symmetry,” which is incorporated herein by reference in its entirety.BACKGROUND OF THE INVENTION[0002]1. Field of the Invention[0003]The present invention relates generally to the field of machine perception and more particularly to calculating probable positions in three dimensions of occluded surfaces of viewed objects.[0004]2. Description of the Prior Art[0005]The present invention relates to viewing an object and constructing a 3-dimensional (3D) map of the surface of object, including determining probable maps of those surfaces of the object that are obscured, hidden, or otherwise occluded from the view. In many applications it is necessary or desirable to have such a 3D model of an object. Such applications include computer-aided design, com...

AI Technical Summary

Benefits of technology

Enables the creation of accurate probable 3D maps of occluded surfaces, improving robotic grasping and 3D modeling by predicting occluded regions with high accuracy, suitable for real-world applications where perfect understanding is not necessary.

Problems solved by technology

However, in certain applications, it is either not possible or not economical to view the object from multiple viewpoints, and in some instances even if multiple viewpoints are used, some surfaces still remain occluded.

Mechanical hands with multiple fingers can grasp objects without parallel contact surfaces, but still require some kind of opposition of the surfaces.

Using only visible surfaces acquired from a single viewpoint, most desirable grasps cannot be planned, due to a lack of information about one or more of the possibly useful contact surfaces.

Additionally, regions of the object may be blocked from a viewing position by the presence of other objects.

They also cannot be used for grasp planning and thereby limit the kinds of grasps that can be considered in the plan.

Heretofore, using 3D models of visible surfaces to create 3D models of occluded surfaces has not been addressed.

Rather, research has been limited to determining symmetries within 2D and 3D images, and to modeling 3D surfaces from 2D images.

However, techniques based on 2D images can make only limited use of symmetries to perform 3D reconstructions.

Accordingly, the relationship between a 3D symmetry of an object and the observed projected 2D image is complex and subject to ambiguity.

However, none of these papers addresses the problem of reconstructing occluded 3D surfaces from 3D data.

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